version: 66.06
glider: 148
mission: 11
dive: 350
start: 7 30 112 1 1 28
data:
$ID,148
$MISSION,11
$DIVE,350
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-925952.12
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,78
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2920
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043980083
$SEABIRD_T_H,0.00063964876
$SEABIRD_T_I,2.5234789e-05
$SEABIRD_T_J,2.6622849e-06
$SEABIRD_C_G,-10.107907
$SEABIRD_C_H,1.1475029
$SEABIRD_C_I,-0.0021076966
$SEABIRD_C_J,0.00024514741
$GPS1,004605,2304.140,-15803.682,48,2.0,59,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.7
$GPS2,010034,2304.294,-15803.740,13,1.0,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.129,-0.225
$KALMAN_X,-119465.8,91.6,-287.9,112868.1,-322.0
$KALMAN_Y,53838.3,513.4,75.6,-24263.7,1383.2
$MHEAD_RNG_PITCHd_Wd,140.1,65046,-17.5,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-73.47,0.000,2,0.000,0.000,410,1602,3306,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.1,-7.5,10,120,13.70,2.33,-3.55,0.000,4,0.148,0.045,3057,166,3516,0,0,0,0,0,0
$GC,181,-0.91,-146.0,32.8,-23.0,22,190,0.32,2.10,0.00,0.000,6,0.086,0.018,3133,1521,3518,0,0,0,0,0,0
$GC,451,-0.76,-146.0,73.3,-14.9,47,456,0.20,2.53,0.00,0.000,4,0.100,0.023,3176,3109,3518,0,0,0,0,0,0
$GC,513,-0.95,-146.0,81.2,-8.3,52,518,0.17,2.55,0.00,0.000,6,0.044,0.028,3075,1538,3519,0,0,0,0,0,0
$GC,778,-0.63,-146.0,126.3,-17.8,76,790,0.62,2.47,0.00,0.000,4,0.086,0.022,3198,3107,3520,0,0,0,0,0,0
$GC,803,-0.63,-146.0,130.0,-13.7,78,808,0.00,2.53,0.00,0.000,6,0.000,0.027,3198,1539,3520,0,0,0,0,0,0
$GC,1067,-0.81,-146.0,148.5,-6.4,102,1072,0.15,2.50,0.00,0.000,4,0.051,0.024,3111,3117,3520,0,0,0,0,0,0
$GC,1088,-0.89,-146.0,150.2,-7.7,103,1093,0.15,2.50,0.00,0.000,6,0.096,0.027,3146,1558,3520,0,0,0,0,0,0
$GC,1353,-0.89,-146.0,175.5,-8.9,127,1357,0.00,2.45,0.00,0.000,4,0.000,0.023,3146,3117,3521,0,0,0,0,0,0
$GC,1370,-0.89,-146.0,177.3,-9.2,128,1375,0.00,2.47,0.00,0.000,6,0.000,0.026,3146,1562,3521,0,0,0,0,0,0
$GC,1633,-0.89,-146.0,200.5,-9.2,152,1637,0.00,2.28,0.00,0.000,4,0.000,0.044,3146,171,3521,0,0,0,0,0,0
$GC,1657,-0.89,-146.0,203.1,-10.4,152,1661,0.00,2.12,0.00,0.000,6,0.000,0.018,3146,1577,3521,0,0,0,0,0,0
$GC,1918,-0.89,-146.0,227.0,-9.2,159,1922,0.00,2.35,0.00,0.000,4,0.000,0.023,3146,3089,3521,0,0,0,0,0,0
$GC,1961,-1.07,-146.0,230.8,-8.4,160,1966,0.15,2.47,0.00,0.000,6,0.053,0.029,3055,1558,3521,0,0,0,0,0,0
$GC,2251,-0.81,-146.0,274.8,-16.0,167,2256,0.52,2.28,0.00,0.000,4,0.088,0.043,3160,167,3521,0,0,0,0,0,0
$GC,2285,-0.92,-146.0,279.2,-10.3,167,2289,0.00,2.10,0.00,0.000,6,0.000,0.020,3160,1551,3521,0,0,0,0,0,0
$GC,2535,-1.07,-146.0,296.0,-6.5,173,2541,0.22,2.45,0.00,0.000,4,0.038,0.025,3059,3101,3521,0,0,0,0,0,0
$GC,2581,-1.07,-146.0,300.1,-9.3,174,2586,0.20,2.47,0.00,0.000,6,0.086,0.031,3105,1575,3521,0,0,0,0,0,0
$GC,2869,-1.07,-146.0,330.4,-10.9,181,2873,0.00,2.35,0.00,0.000,4,0.000,0.053,3106,169,3520,0,0,0,0,0,0
$GC,2908,-1.07,-146.0,334.9,-12.2,181,2913,0.00,2.15,0.00,0.000,6,0.000,0.021,3105,1560,3521,0,0,0,0,0,0
$GC,3158,-1.07,-146.0,361.6,-10.5,188,3162,0.00,2.50,0.00,0.000,4,0.000,0.032,3105,3109,3519,0,0,0,0,0,0
$GC,3181,-1.07,-146.0,364.2,-11.0,188,3185,0.00,2.53,0.00,0.000,6,0.000,0.033,3105,1570,3520,0,0,0,0,0,0
$GC,3442,-1.07,-146.0,387.3,-8.8,195,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1570,3518,0,0,0,0,0,0
$GC,3684,-1.07,-146.0,407.8,-8.4,201,3688,0.00,2.40,0.00,0.000,4,0.000,0.062,3105,163,3516,0,0,0,0,0,0
$GC,3712,-1.07,-146.0,410.4,-9.4,201,3716,0.00,2.20,0.00,0.000,6,0.000,0.034,3105,1568,3516,0,0,0,0,0,0
$GC,3967,-1.07,-146.0,431.3,-8.1,208,3971,0.00,2.53,0.00,0.000,4,0.000,0.036,3105,3118,3514,0,0,0,0,0,0
$GC,4021,-1.19,-146.0,435.2,-6.8,209,4026,0.10,2.55,0.00,0.000,6,0.074,0.044,3038,1584,3514,0,0,0,0,0,0
$GC,4300,-1.02,-146.0,465.5,-10.9,216,4305,0.32,2.42,0.00,0.000,4,0.088,0.067,3114,167,3512,0,0,0,0,0,0
$GC,4384,-1.11,-146.0,472.1,-7.1,217,4388,0.00,2.22,0.00,0.000,6,0.000,0.030,3114,1569,3511,0,0,0,0,0,0
$GC,4634,-1.18,-146.0,487.9,-6.4,223,4639,0.12,2.55,0.00,0.000,4,0.064,0.040,3057,3125,3509,0,0,0,0,0,0
$GC,4651,-1.18,-146.0,489.1,-6.8,223,4656,0.12,2.58,0.00,0.000,6,0.102,0.039,3085,1577,3509,0,0,0,0,0,0
$GC,4921,-1.18,-146.0,510.8,-8.0,230,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1577,3507,0,0,0,0,0,0
$GC,5164,-1.18,-146.0,530.0,-7.9,236,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1577,3506,0,0,0,0,0,0
$GC,5408,-1.18,-146.0,550.2,-8.4,242,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1577,3504,0,0,0,0,0,0
$GC,5652,-1.18,-146.0,571.0,-8.6,248,5656,0.00,2.58,0.00,0.000,4,0.000,0.046,3086,3117,3503,0,0,0,0,0,0
$GC,5671,-1.18,-146.0,572.8,-9.2,248,5675,0.00,2.58,0.00,0.000,6,0.000,0.046,3085,1587,3502,0,0,0,0,0,0
$GC,5935,-1.18,-146.0,598.4,-9.9,255,5939,0.00,2.58,0.00,0.000,4,0.000,0.048,3086,3115,3500,0,0,0,0,0,0
$STATE,5947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5947,begin apogee
$GC,5958,-0.31,0.0,600.1,10.0,255,6079,0.80,0.00,116.85,0.926,6,0.077,0.000,3270,1383,2920,0,0,0,0,0,0
$STATE,6079,end apogee,CONTROL_FINISHED_OK
$STATE,6080,begin climb
$GC,6082,1.27,146.0,604.8,0.0,258,6214,1.45,2.25,123.28,0.907,4,0.047,0.084,3619,171,2324,0,0,0,0,0,0
$GC,6331,0.98,146.0,590.4,12.8,263,6335,0.30,1.98,0.00,0.000,6,0.100,0.030,3555,1378,2317,0,0,0,0,0,0
$GC,6587,1.01,172.4,567.8,8.8,270,6616,0.00,2.78,22.30,0.849,4,0.000,0.053,3555,2956,2216,0,0,0,0,0,0
$GC,6654,1.02,183.5,561.6,9.5,271,6670,0.00,2.70,11.00,0.783,6,0.000,0.046,3555,1381,2172,0,0,0,0,0,0
$GC,6923,1.02,185.2,535.4,9.9,278,6927,0.00,2.12,0.00,0.000,4,0.000,0.077,3555,167,2167,0,0,0,0,0,0
$GC,6951,0.96,185.2,532.2,11.8,278,6955,0.00,1.98,0.00,0.000,6,0.000,0.028,3555,1392,2167,0,0,0,0,0,0
$GC,7210,1.00,218.5,509.2,8.5,285,7246,0.00,2.20,31.48,0.848,4,0.000,0.067,3555,168,2029,0,0,0,0,0,0
$GC,7276,1.00,218.5,503.4,10.4,286,7280,0.00,1.95,0.00,0.000,6,0.000,0.027,3555,1390,2028,0,0,0,0,0,0
$GC,7544,1.06,264.6,481.8,7.9,293,7590,0.00,0.00,43.35,0.841,6,0.000,0.000,3555,1393,1841,0,0,0,0,0,0
$GC,7830,1.08,284.0,456.6,9.1,300,7849,0.00,0.00,17.62,0.787,6,0.000,0.000,3554,1393,1762,0,0,0,0,0,0
$GC,8072,1.15,284.0,431.2,10.7,306,8077,0.15,2.60,0.00,0.000,4,0.058,0.038,3615,2950,1757,0,0,0,0,0,0
$GC,8091,1.15,284.0,428.5,12.6,306,8097,0.12,2.67,0.00,0.000,6,0.107,0.043,3589,1373,1756,0,0,0,0,0,0
$GC,8358,1.15,284.0,394.7,12.5,313,8362,0.00,2.62,0.00,0.000,4,0.000,0.037,3589,2947,1755,0,0,0,0,0,0
$GC,8395,1.21,284.0,389.9,11.6,313,8401,0.00,2.65,0.00,0.000,6,0.000,0.043,3589,1379,1753,0,0,0,0,0,0
$GC,8645,1.21,284.0,360.7,11.8,320,8649,0.00,2.08,0.00,0.000,4,0.000,0.069,3589,162,1753,0,0,0,0,0,0
$GC,8669,1.21,284.0,357.6,13.0,320,8673,0.00,1.95,0.00,0.000,6,0.000,0.024,3589,1382,1752,0,0,0,0,0,0
$GC,8933,1.21,284.0,324.9,12.0,327,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1383,1752,0,0,0,0,0,0
$GC,9176,1.21,284.0,297.3,10.9,333,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1383,1751,0,0,0,0,0,0
$GC,9420,1.21,284.0,270.1,11.3,339,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1383,1750,0,0,0,0,0,0
$GC,9665,1.21,284.0,242.0,11.4,345,9669,0.00,2.55,0.00,0.000,4,0.000,0.031,3589,2960,1750,0,0,0,0,0,0
$GC,9698,1.28,286.9,238.2,9.9,345,9704,0.12,2.62,0.00,0.000,6,0.062,0.037,3652,1378,1748,0,0,0,0,0,0
$GC,9949,1.14,286.9,204.6,13.3,351,9951,0.30,0.00,0.00,0.000,6,0.089,0.000,3587,1378,1748,0,0,0,0,0,0
$GC,10203,1.15,293.6,178.7,9.7,372,10217,0.00,2.55,7.72,0.528,4,0.000,0.027,3587,2954,1721,0,0,0,0,0,0
$GC,10290,1.29,293.6,170.1,10.3,380,10297,0.15,2.60,0.00,0.000,6,0.054,0.035,3655,1378,1718,0,0,0,0,0,0
$GC,10555,1.15,293.6,134.5,14.0,405,10559,0.28,2.00,0.00,0.000,4,0.089,0.051,3591,160,1718,0,0,0,0,0,0
$GC,10585,1.15,293.6,130.2,11.7,407,10590,0.00,1.90,0.00,0.000,6,0.000,0.020,3590,1428,1718,0,0,0,0,0,0
$GC,10849,1.23,304.4,105.5,9.5,432,10866,0.00,2.42,11.00,0.495,4,0.000,0.027,3591,2930,1678,0,0,0,0,0,0
$GC,10885,1.33,318.3,102.0,9.4,435,10909,0.15,2.50,13.98,0.503,6,0.053,0.033,3658,1392,1621,0,0,0,0,0,0
$GC,11164,1.22,318.3,64.8,13.9,461,11168,0.25,2.03,0.00,0.000,4,0.087,0.047,3599,160,1619,0,0,0,0,0,0
$GC,11267,1.30,318.3,52.8,11.0,470,11271,0.10,1.85,0.00,0.000,6,0.076,0.019,3650,1394,1619,0,0,0,0,0,0
$GC,11551,1.24,318.3,17.5,12.0,502,11560,0.20,2.45,0.00,0.000,4,0.091,0.023,3607,2928,1619,0,0,0,0,0,0
$GC,11590,1.36,318.3,13.7,10.0,507,11599,0.08,2.55,0.00,0.000,6,0.034,0.035,3670,1384,1618,0,0,0,0,0,0
$STATE,11663,end climb,SURFACE_DEPTH_REACHED
$STATE,11663,begin surface coast
$FINISH,0.8,1.023525
$STATE,11705,end surface coast,CONTROL_FINISHED_OK
$STATE,11705,begin surface
$SM_CCo,11728,35.28,0.438,0,0,1369,380.21
$SM_GC,1.72,0.00,0.00,35.28,0.000,0.000,0.438,415,1539,1369,-13.45,-0.03,380.21
$IRIDIUM_FIX,2258.07,-15744.07,241001,010139
$TT8_MAMPS,0.027612
$HUMID,65.75
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.00
$XPDR_PINGS,10
$24V_AH,23.5,46.181
$10V_AH,9.9,36.499
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,34.725,143.325,398.575,35.275,0.000,80.394,130.793,365.256,2.500,0.000,15.809,1121.293,8215.976,488.064,1858.024,950.225,33.378,1289.977,0.000,1857.319,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,83.603,925.769,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.944,292.833,372.764,526.027,924.153,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,41586,524
$CAP_FILE_SIZE,135315,0
$CFSIZE,260165632,157745152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300712,041859,2304.033,-15802.813,42,1.4,42,10.1